Mechanism and Machine Theory最新文献_第2页

Design and analysis of a novel class of hybrid parallel manipulators with 3+3 degrees of freedom and remotely operated grippers 一类新型3+3自由度遥控夹持混合并联机器人的设计与分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-17 DOI: 10.1016/j.mechmachtheory.2025.106073

Donglai Xu, Sheng Guo, Xiaodong Jin, Fuqun Zhao, Yuefa Fang

{"title":"Design and analysis of a novel class of hybrid parallel manipulators with 3+3 degrees of freedom and remotely operated grippers","authors":"Donglai Xu, Sheng Guo, Xiaodong Jin, Fuqun Zhao, Yuefa Fang","doi":"10.1016/j.mechmachtheory.2025.106073","DOIUrl":"10.1016/j.mechmachtheory.2025.106073","url":null,"abstract":"<div><div>Parallel manipulators (PMs) equipped with remotely operated grippers eliminate the need for installing actuators on the end-effector, considerably reducing the mass of the moving platform. Integrated into the PM, the gripper is designed to harmonize with the kinematic and dynamic properties of the system, thereby optimizing operational performance and simplifying the mechanical structure. This paper proposes a novel class of 3 + 3-degree-of-freedom (DOF) hybrid parallel manipulators (HPMs) with remotely operated grippers. The gripper, functioning as part of the limb, is directly connected to the moving platform through a revolute joint. First, the structural synthesis procedure for constructing the HPMs is proposed based on Lie group theory, utilizing Grassmann line geometry and the atlas method. The resulting HPMs exhibit three pinching DOFs and three operational DOFs following the pinching process. Subsequently, one typical mechanism is selected from both the 3T HPMs and the 2T1R HPMs for analysis. The inverse kinematics models are established and verified through ADAMS simulation. Then, the Jacobian matrices are calculated and the operational workspace of the HPMs are evaluated. Finally, a prototype experiment is conducted. The proposed HPMs offer a novel reference scheme for the design and analysis of grasping robots.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"212 ","pages":"Article 106073"},"PeriodicalIF":4.5,"publicationDate":"2025-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144071143","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Efficient loss modeling for automated computational design synthesis using a next-generation hybrid dual-clutch transmission 采用新一代混合动力双离合变速器进行自动计算设计合成的高效损耗建模

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-13 DOI: 10.1016/j.mechmachtheory.2025.106048

J. van der Worp , N. Radadia , J. Wijkniet , T. Hofman

{"title":"Efficient loss modeling for automated computational design synthesis using a next-generation hybrid dual-clutch transmission","authors":"J. van der Worp , N. Radadia , J. Wijkniet , T. Hofman","doi":"10.1016/j.mechmachtheory.2025.106048","DOIUrl":"10.1016/j.mechmachtheory.2025.106048","url":null,"abstract":"<div><div>Estimating transmission power losses or energy efficiency with sufficient accuracy early in the design phase is essential to obtain an optimal transmission design. High-accuracy simulation models usually require large computation times, hence we focus on the development of fast yet accurately designed parametric loss models for the essential gearbox components. To enhance the models’ accuracy, experiment-based research into the distinct analytical loss models for the key transmission components (gears, bearings, synchronizers, clutches, and seals) is required. The main contribution of this work lies in the thorough experimental validation of the existing load-independent and load-dependent loss models with particular attention to gear mesh, clutch drag and gear wheel churning losses; verification and validation of the transmission modeling method, and providing insights into the breakdown of these losses at transmission system level using a next-generation hybrid dual-clutch transmission. The results showcase that the provided loss models with the essential component input parameters from the literature and the provided geometrical parameters of the chosen gearbox can predict the losses dynamically and over the full range of operation. Hereby, an accuracy of less than 15% error by comparing it with a large number of 75 gearboxes, measured on more than 15 different test rigs, over a certified reference drive cycle (WLTC) has been achieved. Furthermore, in most of the operating points, the predicted losses are within the experimental measurement spread, originating from hardware piece-to-piece variation and test bench-to-test bench variation.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"212 ","pages":"Article 106048"},"PeriodicalIF":4.5,"publicationDate":"2025-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143936132","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A novel surface division method and surface accuracy measurement for parabolic truss-type deployable antenna mechanism 一种抛物桁架式可展开天线机构曲面划分及曲面精度测量方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-12 DOI: 10.1016/j.mechmachtheory.2025.106071

Guoxing Zhang , Jie Wang , Jinwei Guo , Jun Wang , Yini Xu , Fenghuang Hu

{"title":"A novel surface division method and surface accuracy measurement for parabolic truss-type deployable antenna mechanism","authors":"Guoxing Zhang , Jie Wang , Jinwei Guo , Jun Wang , Yini Xu , Fenghuang Hu","doi":"10.1016/j.mechmachtheory.2025.106071","DOIUrl":"10.1016/j.mechmachtheory.2025.106071","url":null,"abstract":"<div><div>Surface division research is crucial for improving the surface accuracy of large-diameter parabolic deployable antennas. To achieve higher surface accuracy, a procedural surface division method based on combined geometric shapes is proposed. First, the configuration design of the parabolic deployable antenna mechanism is carried out, and a mathematical model for surface division is established. Next, numerical computation software is used to validate the procedural division model, enabling the procedural division of the antenna's surface. A prototype of the deployable antenna mechanism’s composite element is then developed, and a comparative analysis of the surface and the procedural division results is conducted to confirm the feasibility of the proposed method. Finally, surface accuracy measurements are performed based on the physical prototype, and error analysis is conducted by comparing experimental scanning results with the 3D model, further verifying the accuracy of the surface division method. The research results offer new insights into the division of reflective surfaces for parabolic truss-type deployable antennas and provide a theoretical foundation for the development of deployable antennas with larger diameters and higher precision.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"212 ","pages":"Article 106071"},"PeriodicalIF":4.5,"publicationDate":"2025-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143936117","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Novel dynamic modeling and analysis method of the wind turbine gearbox gear-bearing coupling system considering gear crack and tooth modification with support shaft flexibility 考虑齿轮裂纹和齿形变化及支承轴柔性的风电齿轮箱-轴承耦合系统动力学建模与分析新方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-11 DOI: 10.1016/j.mechmachtheory.2025.106058

Shuyi Yang, Caichao Zhu, Chengwu Li, Ye Zhou, Wenxuan Wang, Shengkai Wang

{"title":"Novel dynamic modeling and analysis method of the wind turbine gearbox gear-bearing coupling system considering gear crack and tooth modification with support shaft flexibility","authors":"Shuyi Yang, Caichao Zhu, Chengwu Li, Ye Zhou, Wenxuan Wang, Shengkai Wang","doi":"10.1016/j.mechmachtheory.2025.106058","DOIUrl":"10.1016/j.mechmachtheory.2025.106058","url":null,"abstract":"<div><div>Wind turbine gearboxes are subjected to coupled excitations from gear cracks, gear modifications, and flexible shaft deformations. However, most existing studies examine the dynamic behavior under isolated excitation conditions. This study proposes a novel dynamic modeling approach for the wind turbine gear-bearing coupling system, combining isogeometric analysis (IGA) and lumped parameter methods. An improved slice method is developed to evaluate the time-varying meshing stiffness (TVMS), considering the gear crack and modifications. Then, the refined integration method is developed to solve the gear contact analysis integrating the system vibration responses. Subsequently, the dynamic model is validated through bench testing, and system dynamic characteristics are thoroughly investigated. The results indicate that gear cracks may shift contact load distribution away from the cracked region, increase bearing contact load amplitude, reduce the bearing's load area, and induce periodic impacts. Additionally, gear axial crown modification (ACM) is more sensitive to the contact load distribution of gear-bearing and alleviates the impact response of the coupled system. Furthermore, the flexibility of the supporting shaft (FS) may lead to tooth disengagement and exacerbate impact vibrations in the system.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"212 ","pages":"Article 106058"},"PeriodicalIF":4.5,"publicationDate":"2025-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143931694","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Unit design and splicing scheme for a modular assembled mesh antenna 一种组合式网状天线的单元设计与拼接方案

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-10 DOI: 10.1016/j.mechmachtheory.2025.106060

Bowen Deng , Baiyan He , Rui Nie , Kangkang Li , Biao Yu , Guobiao Wang , Yesen Fan

{"title":"Unit design and splicing scheme for a modular assembled mesh antenna","authors":"Bowen Deng , Baiyan He , Rui Nie , Kangkang Li , Biao Yu , Guobiao Wang , Yesen Fan","doi":"10.1016/j.mechmachtheory.2025.106060","DOIUrl":"10.1016/j.mechmachtheory.2025.106060","url":null,"abstract":"<div><div>In-orbit assembly technology is a promising direction for large space structures, which combines numbers of small identical or similar units into one large assembly. This paper proposes a modular assembled mesh antenna constituted by several hexagonal platform units. The principle and configuration of using approximate hexagonal platform units to constitute a spherical truss is first investigated. Then, considering the units’ non-interference, assembly sequence and interchangeability, detailed unit mechanical design with docking interface and splicing scheme is addressed. The whole mesh antenna is a pre-stressed structure caused by the inner-unit cable mesh pretension and the outer-unit assembly stress. So, considering both the surface accuracy and the low-stress assembly requirement, an optimization strategy is put forward. Low docking force and assembly stress can be achieved by optimizing the cable mesh’s pretension and the docking points’ initial position. Finally, a case study is illustrated. Compared with the form-finding method without considering assembly, the antenna unit designed using the proposed optimization strategy exhibits smaller contact forces during assembly, and smaller RMS error after assembly, which still meets the design requirement.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"212 ","pages":"Article 106060"},"PeriodicalIF":4.5,"publicationDate":"2025-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143929499","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A high fidelity simulation for vertical planar motion control of underwater vehicle navigating near surface waves using joint mechanism control 基于关节机构控制的水下航行器近表面波垂直平面运动高保真仿真

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-09 DOI: 10.1016/j.mechmachtheory.2025.106056

Junjie Wang , Gong Xiang , Xianbo Xiang , C. Guedes Soares

{"title":"A high fidelity simulation for vertical planar motion control of underwater vehicle navigating near surface waves using joint mechanism control","authors":"Junjie Wang , Gong Xiang , Xianbo Xiang , C. Guedes Soares","doi":"10.1016/j.mechmachtheory.2025.106056","DOIUrl":"10.1016/j.mechmachtheory.2025.106056","url":null,"abstract":"<div><div>Traditional underwater vehicle (UV) motion control simulations primarily rely on dynamic modeling but often neglect the precise consideration of fluid forces, such as turbulence effects, viscous phenomena, and flow separation. To address this limitation, this study focuses on UV operations near the water surface and embeds a vertical plane integrated control strategy, combining Line-of-Sight Proportional–Integral–Derivative (LOS-PID) rudder angle control and ballast weight control, within a Computational Fluid Dynamics (CFD) framework. This approach achieves precise depth maintenance and pitch stability. The primary contributions of this research include the following three aspects: (1) A novel high-fidelity motion simulation framework is proposed via coupling closed loop motion control algorithms within CFD to study the UV navigating near surface waves. (2) The sea state and water depth affect the surfacing behaviors of UV during low-speed navigation near the surface waves. The second order waves cause the surfacing velocity to become faster when the UV is going up, consequently bringing control difficulty. (3) A comparative analysis of different control strategies shows that the stern rudder control is unable to overcome the second-order wave induced motion while the joint mechanism (rudder and ballast) control demonstrates effective suppression of surfacing behavior of UV navigating near surface waves. This integrated motion simulation framework provides a robust approach for investigating the control and simultaneous fluid mechanic behaviors of UVs in complex oceanic environments.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"212 ","pages":"Article 106056"},"PeriodicalIF":4.5,"publicationDate":"2025-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143922014","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Spatial geometric modelling and tessellation for modular hexagonal frustum deployable mechanism 模块化六角形截台展开机构的空间几何建模与镶嵌

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-05-08 DOI: 10.1016/j.mechmachtheory.2025.106059

Baiyan He , Kangkang Li , Rui Nie , Yesen Fan , Guobiao Wang

{"title":"Spatial geometric modelling and tessellation for modular hexagonal frustum deployable mechanism","authors":"Baiyan He , Kangkang Li , Rui Nie , Yesen Fan , Guobiao Wang","doi":"10.1016/j.mechmachtheory.2025.106059","DOIUrl":"10.1016/j.mechmachtheory.2025.106059","url":null,"abstract":"<div><div>The demand for large-scale space deployable structures is growing as space exploration advances in various aerospace missions. A modular hexagonal frustum mechanism composed of similar modules holds promise for constructing large-scale space deployable antennas. However, geometrical conflicts emerge when attempting hemispherical assembly using identical hexagonal frustum modules. This paper introduces a tessellation method for modular mechanisms under motion compatibility constraints. For a single deployable module, the rib angles are treated as variables, and the coordinates of member nodes varying with the degree of deployment are derived through kinematic analysis. For multiple modules, we determine rib angles based on the geometric consistency condition to achieve kinematic compatibility, thereby fundamentally resolving geometrical conflicts in tessellating identical deployable modules. Subsequently, we propose module tessellation schemes that maximize the area utilization ratio under specific size requirements. Finally, we design and fabricate a scaled prototype, perform deployment experiments, and measure motion trajectories of member points. The results demonstrate that the rib angle can adaptively adjust to meet the motion compatibility condition of the mechanism, and the measured rib angle variation aligns with the calculation results.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"212 ","pages":"Article 106059"},"PeriodicalIF":4.5,"publicationDate":"2025-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143922013","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A reciprocating vector propulsion underwater vehicle based on a parallel reconfigurable mechanism 基于并联可重构机构的往复式矢量推进水下航行器

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-30 DOI: 10.1016/j.mechmachtheory.2025.106055

Yifan Wu , Yuanhao Zhang , Erke Qin , Rongjie Kang , Jian S. Dai , Zhibin Song

{"title":"A reciprocating vector propulsion underwater vehicle based on a parallel reconfigurable mechanism","authors":"Yifan Wu , Yuanhao Zhang , Erke Qin , Rongjie Kang , Jian S. Dai , Zhibin Song","doi":"10.1016/j.mechmachtheory.2025.106055","DOIUrl":"10.1016/j.mechmachtheory.2025.106055","url":null,"abstract":"<div><div>Underwater propulsion technology is a critical aspect of underwater equipment. The paradigm of underwater propulsion primarily based on propellers diminishes propulsion efficiency due to the lateral induced flow. Addressing this issue, our work proposes a reciprocating straight propulsion underwater propulsion strategy based on a passive folding mechanism. This propulsion form enhances effective thrust, and improves the motion efficiency of the vehicle via adopting the proposed straight propulsion mechanism which eliminates lateral induced water flow. To achieve vector propulsion ability, a 4-PRU parallel reconfigurable mechanism is added to the straight propulsion mechanism. The propulsion principle, parallel mechanism design, overall structure design of the vehicle, and dynamic analysis are detailed presented. Computational fluid dynamics analysis is used to validate the feasibility of the propulsion principle and the reliability of the dynamic model. Experiments confirm that the motion efficiency of the vehicle under uniform acceleration propulsion mode ranges from 61 % to 69 %, which is higher than traditional propeller propulsion methods. Additionally, the vector-propelled vehicle demonstrates good maneuverability in turning tests in a water pool.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"211 ","pages":"Article 106055"},"PeriodicalIF":4.5,"publicationDate":"2025-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143891807","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A search method integrating configuration synthesis, screening, and optimization for a dual-planetary gear set four-mode configuration in battery electric vehicles 纯电动汽车双行星齿轮组四模构型综合筛选优化搜索方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-26 DOI: 10.1016/j.mechmachtheory.2025.106021

Yang Tian , Yusen Miao , Jiahao Qin , Yahui Zhang , Nong Zhang , Guilin Wen

{"title":"A search method integrating configuration synthesis, screening, and optimization for a dual-planetary gear set four-mode configuration in battery electric vehicles","authors":"Yang Tian , Yusen Miao , Jiahao Qin , Yahui Zhang , Nong Zhang , Guilin Wen","doi":"10.1016/j.mechmachtheory.2025.106021","DOIUrl":"10.1016/j.mechmachtheory.2025.106021","url":null,"abstract":"<div><div>Planetary gear sets (PGS) are regarded for their compact structure, high efficiency, and other advantages. They have been successfully implemented in several battery electric vehicles, delivering outstanding performance. This paper examines a dual-motor, dual-PGS four-mode configuration and introduces an innovative matrix-based search method. This approach integrates configuration synthesis, screening, and optimization to identify the most appropriate structure and parameters for the vehicle intended to utilize this configuration. In this process, connection units and structure matrices are defined to complete configuration synthesis. By leveraging the characteristics of PGS and the structure matrices, the speed, torque, and efficiency are calculated for each working mode. Configuration screening is conducted based on the performance requirements of the motor, PGS, and vehicle to preemptively eliminate unqualified configurations. To reduce the computational burden of configuration optimization, a novel energy management strategy is designed that approximates the performance of dynamic programming. This search method is applied to an example vehicle. The results demonstrate that this method can effectively search for the optimal configuration and corresponding parameters under specific requirements.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"211 ","pages":"Article 106021"},"PeriodicalIF":4.5,"publicationDate":"2025-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143877257","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The atlas of 1-DoF finger prostheses and orthoses based on six-bar linkages 基于六杆机构的1自由度手指假肢和矫形器图谱

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2025-04-26 DOI: 10.1016/j.mechmachtheory.2025.106046

Alessandro Ceccarelli, Fabrizio Taffoni, Loredana Zollo, Nevio Luigi Tagliamonte

{"title":"The atlas of 1-DoF finger prostheses and orthoses based on six-bar linkages","authors":"Alessandro Ceccarelli, Fabrizio Taffoni, Loredana Zollo, Nevio Luigi Tagliamonte","doi":"10.1016/j.mechmachtheory.2025.106046","DOIUrl":"10.1016/j.mechmachtheory.2025.106046","url":null,"abstract":"<div><div>Robotic solutions can be adopted to develop prostheses, and substitute hands following amputation, or orthoses, and assist impaired hands. Even if the human finger can be easily considered a planar kinematic chain with a single Degree of Freedom (DoF), in both applications, different mechanisms are able to replicate its motion. This paper presents a list of 1-DoF planar mechanisms for implementing finger flexion/extension in hand prostheses and orthoses, based on 6 links and 7 revolute joints (six-bar linkages). Our proposed enumeration process starts from 495 initial combinations, which are systematically analyzed and filtered through three tests that assess their topology based on adjacency matrix representation. The tests exclude mechanisms with open loops, which are isomorphic with respect to others, and which are not compatible with the human finger kinematic structure. This filtering process led to the identification of 14 resulting mechanisms, represented in the paper in terms of graphs, kinematic sketches and implementation concepts. The overview of the enumerated mechanisms highlights several topological solutions and provides perspective designers with useful hints for addressing specific needs such as comfort and compactness.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"211 ","pages":"Article 106046"},"PeriodicalIF":4.5,"publicationDate":"2025-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143873394","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0